#ifndef _PID_H_
#define _PID_H_
#include "stm32f4xx.h"
#include "imu.h"
#include "control.h"

extern float V_X_Stop,V_Y_Stop;

void PidParameter_init(void);
void PID_Rol(PID_TYPE*PID,float target,float measure);
void PID_Pit(PID_TYPE*PID,float target,float measure);
void PID_Yaw(PID_TYPE*PID,float target,float measure);
void PID_Yaw_R(PID_TYPE*PID,float target,float measure);
void PID_YAW_C(PID_TYPE*PID,float target,float measure);
void PID_Angle_R(PID_TYPE*PID,float target,float measure);
void PID_High(PID_TYPE*PID,float target,float measure);
void PID_High_R(PID_TYPE*PID,float target,float measure);
void PID_Position(PID_TYPE*PID,float target,float measure);
void PID_Position_X(PID_TYPE*PID,float target,float measure);
void PID_Position_Y(PID_TYPE*PID,float target,float measure);
void PID_Position_ax(PID_TYPE*PID,float target,float measure);
void PID_Position_ay(PID_TYPE*PID,float target,float measure);
void UnControl_Check(void);
#endif
